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Stock-Based Compensation - Stock-Based Compensation (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total stock-based compensation $ 4,509,000 $ 4,256,000
Research and development expenses    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total stock-based compensation 1,279,000 1,035,000
Selling, general and administrative expenses    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total stock-based compensation $ 3,230,000 $ 3,221,000